2026
ARTI-VIO: Asynchronous Multi-Camera Visual-Inertial Odometry With Feature Recall and Time-Interpolated Optimization
RA-L 2026
Multi-camera visual-inertial odometry (VIO) provides robust state estimation across wide fields of view, but asynchronous sensor streams without hardware synchronization introduce algorithmic and computational challenges. We present ARTI-VIO, a flexible framework for asynchronous multi-camera VIO wi